OpenRaiser/Intern-Atlas huggingface dataset:
Optimizing Force Signals from Human Demonstrations of In-Contact Motions
Venue: arXiv cs.RO 2025
Year: 2025

For non-robot-programming experts, kinesthetic guiding can be an intuitive input method, as robot programming of in-contact tasks is becoming more prominent. However, imprecise and noisy input signals from human demonstrations pose problems when reproducing motions directly or using the signal as input for machine learning methods. This paper explores optimizing force signals to correspond better to the human intention of the demonstrated signal. We compare different signal filtering methods and propose a peak detection method for dealing with first-contact deviations in the signal. The evaluation of these methods considers a specialized error criterion between the input and the human-intended signal. In addition, we analyze the critical parameters' influence on the filtering methods. The quality for an individual motion could be increased by up to \SI{20}{\percent} concerning the error criterion. The proposed contribution can improve the usability of robot programming and the interaction between humans and robots.
On zeros and algorithms for disordered systems: mean-field spin glasses
Venue: arXiv cs.DS 2025
Year: 2025

Spin glasses are fundamental probability distributions at the core of statistical physics, the theory of average-case computational complexity, and modern high-dimensional statistical inference. In the mean-field setting, we design deterministic quasipolynomial-time algorithms for estimating the partition function to arbitrarily high accuracy for all inverse temperatures in the second moment regime. In particular, for the Sherrington--Kirkpatrick model, our algorithms succeed for the entire replica-symmetric phase. To achieve this, we study the locations of the zeros of the partition function. Notably, our methods are conceptually simple, and apply equally well to the spherical case and the case of Ising spins.
Cyber security of Mega Events: A Case Study of Securing the Digital Infrastructure for MahaKumbh 2025 -- A 45 days Mega Event of 600 Million Footfalls
Venue: arXiv cs.CR 2025
Year: 2025

Mega events such as the Olympics, World Cup tournaments, G-20 Summit, religious events such as MahaKumbh are increasingly digitalized. From event ticketing, vendor booth or lodging reservations, sanitation, event scheduling, customer service, crime reporting, media streaming and messaging on digital display boards, surveillance, crowd control, traffic control and many other services are based on mobile and web applications, wired and wireless networking, network of Closed-Circuit Television (CCTV) cameras, specialized control room with network and video-feed monitoring. Consequently, cyber threats directed at such digital infrastructure are common. Starting from hobby hackers, hacktivists, cyber crime gangs, to the nation state actors, all target such infrastructure to unleash chaos on an otherwise smooth operation, and often the cyber threat actors attempt to embarrass the organizing country or the organizers. Unlike long-standing organizations such as a corporate or a government department, the infrastructure of mega-events is temporary, constructed over a short time span in expediency, and often shortcuts are taken to make the deadline for the event. As a result, securing such an elaborate yet temporary infrastructure requires a different approach than securing a standard organizational digital infrastructure. In this paper, we describe our approach to securing MahaKumbh 2025, a 600 million footfall event for 45 days in Prayagraj, India, as a cyber security assessment and risk management oversight team. We chronicle the scope, process, methodology, and outcome of our team's effort to secure this mega event. It should be noted that none of the cyber attacks during the 45-day event was successful. Our goal is to put on record the methodology and discuss what we would do differently in case we work on similar future mega event.
SustainDiffusion: Optimising the Social and Environmental Sustainability of Stable Diffusion Models
Venue: arXiv cs.SE 2025
Year: 2025

Background: Text-to-image generation models are widely used across numerous domains. Among these models, Stable Diffusion (SD) - an open-source text-to-image generation model - has become the most popular, producing over 12 billion images annually. However, the widespread use of these models raises concerns regarding their social and environmental sustainability. Aims: To reduce the harm that SD models may have on society and the environment, we introduce SustainDiffusion, a search-based approach designed to enhance the social and environmental sustainability of SD models. Method: SustainDiffusion searches the optimal combination of hyperparameters and prompt structures that can reduce gender and ethnic bias in generated images while also lowering the energy consumption required for image generation. Importantly, SustainDiffusion maintains image quality comparable to that of the original SD model. Results: We conduct a comprehensive empirical evaluation of SustainDiffusion, testing it against six different baselines using 56 different prompts. Our results demonstrate that SustainDiffusion can reduce gender bias in SD3 by 68%, ethnic bias by 59%, and energy consumption (calculated as the sum of CPU and GPU energy) by 48%. Additionally, the outcomes produced by SustainDiffusion are consistent across multiple runs and can be generalised to various prompts. Conclusions: With SustainDiffusion, we demonstrate how enhancing the social and environmental sustainability of text-to-image generation models is possible without fine-tuning or changing the model's architecture.
Agentic AI for autonomous anomaly management in complex systems
Venue: arXiv cs.AI 2025
Year: 2025

This paper explores the potential of agentic AI in autonomously detecting and responding to anomalies within complex systems, emphasizing its ability to transform traditional, human-dependent anomaly management methods.
Hi^2-GSLoc: Dual-Hierarchical Gaussian-Specific Visual Relocalization for Remote Sensing
Venue: arXiv cs.CV 2025
Year: 2025

Visual relocalization, which estimates the 6-degree-of-freedom (6-DoF) camera pose from query images, is fundamental to remote sensing and UAV applications. Existing methods face inherent trade-offs: image-based retrieval and pose regression approaches lack precision, while structure-based methods that register queries to Structure-from-Motion (SfM) models suffer from computational complexity and limited scalability. These challenges are particularly pronounced in remote sensing scenarios due to large-scale scenes, high altitude variations, and domain gaps of existing visual priors. To overcome these limitations, we leverage 3D Gaussian Splatting (3DGS) as a novel scene representation that compactly encodes both 3D geometry and appearance. We introduce $\mathrm{Hi}^2$-GSLoc, a dual-hierarchical relocalization framework that follows a sparse-to-dense and coarse-to-fine paradigm, fully exploiting the rich semantic information and geometric constraints inherent in Gaussian primitives. To handle large-scale remote sensing scenarios, we incorporate partitioned Gaussian training, GPU-accelerated parallel matching, and dynamic memory management strategies. Our approach consists of two stages: (1) a sparse stage featuring a Gaussian-specific consistent render-aware sampling strategy and landmark-guided detector for robust and accurate initial pose estimation, and (2) a dense stage that iteratively refines poses through coarse-to-fine dense rasterization matching while incorporating reliability verification. Through comprehensive evaluation on simulation data, public datasets, and real flight experiments, we demonstrate that our method delivers competitive localization accuracy, recall rate, and computational efficiency while effectively filtering unreliable pose estimates. The results confirm the effectiveness of our approach for practical remote sensing applications.
Surfacing Variations to Calibrate Perceived Reliability of MLLM-generated Image Descriptions
Venue: arXiv cs.HC 2025
Year: 2025

Multimodal large language models (MLLMs) provide new opportunities for blind and low vision (BLV) people to access visual information in their daily lives. However, these models often produce errors that are difficult to detect without sight, posing safety and social risks in scenarios from medication identification to outfit selection. While BLV MLLM users use creative workarounds such as cross-checking between tools and consulting sighted individuals, these approaches are often time-consuming and impractical. We explore how systematically surfacing variations across multiple MLLM responses can support BLV users to detect unreliable information without visually inspecting the image. We contribute a design space for eliciting and presenting variations in MLLM descriptions, a prototype system implementing three variation presentation styles, and findings from a user study with 15 BLV participants. Our results demonstrate that presenting variations significantly increases users' ability to identify unreliable claims (by 4.9x using our approach compared to single descriptions) and significantly decreases perceived reliability of MLLM responses. 14 of 15 participants preferred seeing variations of MLLM responses over a single description, and all expressed interest in using our system for tasks from understanding a tornado's path to posting an image on social media.
Chinchunmei at SemEval-2025 Task 11: Boosting the Large Language Model's Capability of Emotion Perception using Contrastive Learning
Venue: arXiv cs.CL 2025
Year: 2025

The SemEval-2025 Task 11, Bridging the Gap in Text-Based Emotion Detection, introduces an emotion recognition challenge spanning over 28 languages. This competition encourages researchers to explore more advanced approaches to address the challenges posed by the diversity of emotional expressions and background variations. It features two tracks: multi-label classification (Track A) and emotion intensity prediction (Track B), covering six emotion categories: anger, fear, joy, sadness, surprise, and disgust. In our work, we systematically explore the benefits of two contrastive learning approaches: sample-based (Contrastive Reasoning Calibration) and generation-based (DPO, SimPO) contrastive learning. The sample-based contrastive approach trains the model by comparing two samples to generate more reliable predictions. The generation-based contrastive approach trains the model to differentiate between correct and incorrect generations, refining its prediction. All models are fine-tuned from LLaMa3-Instruct-8B. Our system achieves 9th place in Track A and 6th place in Track B for English, while ranking among the top-tier performing systems for other languages.
Gaze-supported Large Language Model Framework for Bi-directional Human-Robot Interaction
Venue: arXiv cs.RO 2025
Year: 2025

The rapid development of Large Language Models (LLMs) creates an exciting potential for flexible, general knowledge-driven Human-Robot Interaction (HRI) systems for assistive robots. Existing HRI systems demonstrate great progress in interpreting and following user instructions, action generation, and robot task solving. On the other hand, bi-directional, multi-modal, and context-aware support of the user in collaborative tasks still remains an open challenge. In this paper, we present a gaze- and speech-informed interface to the assistive robot, which is able to perceive the working environment from multiple vision inputs and support the dynamic user in their tasks. Our system is designed to be modular and transferable to adapt to diverse tasks and robots, and it is capable of real-time use of language-based interaction state representation and fast on board perception modules. Its development was supported by multiple public dissemination events, contributing important considerations for improved robustness and user experience. Furthermore, in two lab studies, we compare the performance and user ratings of our system with those of a traditional scripted HRI pipeline. Our findings indicate that an LLM-based approach enhances adaptability and marginally improves user engagement and task execution metrics but may produce redundant output, while a scripted pipeline is well suited for more straightforward tasks.
A Framework for Analyzing Abnormal Emergence in Service Ecosystems Through LLM-based Agent Intention Mining
Venue: arXiv cs.AI 2025
Year: 2025

With the rise of service computing, cloud computing, and IoT, service ecosystems are becoming increasingly complex. The intricate interactions among intelligent agents make abnormal emergence analysis challenging, as traditional causal methods focus on individual trajectories. Large language models offer new possibilities for Agent-Based Modeling (ABM) through Chain-of-Thought (CoT) reasoning to reveal agent intentions. However, existing approaches remain limited to microscopic and static analysis. This paper introduces a framework: Emergence Analysis based on Multi-Agent Intention (EAMI), which enables dynamic and interpretable emergence analysis. EAMI first employs a dual-perspective thought track mechanism, where an Inspector Agent and an Analysis Agent extract agent intentions under bounded and perfect rationality. Then, k-means clustering identifies phase transition points in group intentions, followed by a Intention Temporal Emergence diagram for dynamic analysis. The experiments validate EAMI in complex online-to-offline (O2O) service system and the Stanford AI Town experiment, with ablation studies confirming its effectiveness, generalizability, and efficiency. This framework provides a novel paradigm for abnormal emergence and causal analysis in service ecosystems. The code is available at https://anonymous.4open.science/r/EAMI-B085.
Interleaved LLM and Motion Planning for Generalized Multi-Object Collection in Large Scene Graphs
Venue: arXiv cs.RO 2025
Year: 2025

Household robots have been a longstanding research topic, but they still lack human-like intelligence, particularly in manipulating open-set objects and navigating large environments efficiently and accurately. To push this boundary, we consider a generalized multi-object collection problem in large scene graphs, where the robot needs to pick up and place multiple objects across multiple locations in a long mission of multiple human commands. This problem is extremely challenging since it requires long-horizon planning in a vast action-state space under high uncertainties. To this end, we propose a novel interleaved LLM and motion planning algorithm Inter-LLM. By designing a multimodal action cost similarity function, our algorithm can both reflect the history and look into the future to optimize plans, striking a good balance of quality and efficiency. Simulation experiments demonstrate that compared with latest works, our algorithm improves the overall mission performance by 30% in terms of fulfilling human commands, maximizing mission success rates, and minimizing mission costs.
LLM Economist: Large Population Models and Mechanism Design in Multi-Agent Generative Simulacra
Venue: arXiv cs.MA 2025
Year: 2025

We present the LLM Economist, a novel framework that uses agent-based modeling to design and assess economic policies in strategic environments with hierarchical decision-making. At the lower level, bounded rational worker agents -- instantiated as persona-conditioned prompts sampled from U.S. Census-calibrated income and demographic statistics -- choose labor supply to maximize text-based utility functions learned in-context. At the upper level, a planner agent employs in-context reinforcement learning to propose piecewise-linear marginal tax schedules anchored to the current U.S. federal brackets. This construction endows economic simulacra with three capabilities requisite for credible fiscal experimentation: (i) optimization of heterogeneous utilities, (ii) principled generation of large, demographically realistic agent populations, and (iii) mechanism design -- the ultimate nudging problem -- expressed entirely in natural language. Experiments with populations of up to one hundred interacting agents show that the planner converges near Stackelberg equilibria that improve aggregate social welfare relative to Saez solutions, while a periodic, persona-level voting procedure furthers these gains under decentralized governance. These results demonstrate that large language model-based agents can jointly model, simulate, and govern complex economic systems, providing a tractable test bed for policy evaluation at the societal scale to help build better civilizations.
Federated Split Learning with Improved Communication and Storage Efficiency
Venue: arXiv cs.LG 2025
Year: 2025

Federated learning (FL) is one of the popular distributed machine learning (ML) solutions but incurs significant communication and computation costs at edge devices. Federated split learning (FSL) can train sub-models in parallel and reduce the computational burden of edge devices by splitting the model architecture. However, it still requires a high communication overhead due to transmitting the smashed data and gradients between clients and the server in every global round. Furthermore, the server must maintain separate partial models for every client, leading to a significant storage requirement. To address these challenges, this paper proposes a novel communication and storage efficient federated split learning method, termed CSE-FSL, which utilizes an auxiliary network to locally update the weights of the clients while keeping a single model at the server, hence avoiding frequent transmissions of gradients from the server and greatly reducing the storage requirement of the server. Additionally, a new model update method of transmitting the smashed data in selected epochs can reduce the amount of smashed data sent from the clients. We provide a theoretical analysis of CSE-FSL, rigorously guaranteeing its convergence under non-convex loss functions. The extensive experimental results further indicate that CSE-FSL achieves a significant communication reduction over existing FSL solutions using real-world FL tasks.
Observing Fine-Grained Changes in Jupyter Notebooks During Development Time
Venue: arXiv cs.SE 2025
Year: 2025

In software engineering, numerous studies have focused on the analysis of fine-grained logs, leading to significant innovations in areas such as refactoring, security, and code completion. However, no similar studies have been conducted for computational notebooks in the context of data science. To help bridge this research gap, we make three scientific contributions: we (1) introduce a toolset for collecting code changes in Jupyter notebooks during development time; (2) use it to collect more than 100 hours of work related to a data analysis task and a machine learning task (carried out by 20 developers with different levels of expertise), resulting in a dataset containing 2,655 cells and 9,207 cell executions; and (3) use this dataset to investigate the dynamic nature of the notebook development process and the changes that take place in the notebooks. In our analysis of the collected data, we classified the changes made to the cells between executions and found that a significant number of these changes were code iteration modifications. We report a number of other insights and propose potential future research directions on the novel data.
RDMA: Cost Effective Agent-Driven Rare Disease Discovery within Electronic Health Record Systems
Venue: arXiv cs.LG 2025
Year: 2025

Rare diseases affect 1 in 10 Americans, yet standard ICD coding systems fail to capture these conditions in electronic health records (EHR), leaving crucial information buried in clinical notes. Current approaches struggle with medical abbreviations, miss implicit disease mentions, raise privacy concerns with cloud processing, and lack clinical reasoning abilities. We present Rare Disease Mining Agents (RDMA), a framework that mirrors how medical experts identify rare disease patterns in EHR. RDMA connects scattered clinical observations that together suggest specific rare conditions. By handling clinical abbreviations, recognizing implicit disease patterns, and applying contextual reasoning locally on standard hardware, RDMA reduces privacy risks while improving F1 performance by upwards of 30\% and decreasing inferences costs 10-fold. This approach helps clinicians avoid the privacy risk of using cloud services while accessing key rare disease information from EHR systems, supporting earlier diagnosis for rare disease patients. Available at https://github.com/jhnwu3/RDMA.
An open dataset of neural networks for hypernetwork research
Venue: arXiv cs.LG 2025
Year: 2025

Despite the transformative potential of AI, the concept of neural networks that can produce other neural networks by generating model weights (hypernetworks) has been largely understudied. One of the possible reasons is the lack of available research resources that can be used for the purpose of hypernetwork research. Here we describe a dataset of neural networks, designed for the purpose of hypernetworks research. The dataset includes $10^4$ LeNet-5 neural networks trained for binary image classification separated into 10 classes, such that each class contains 1,000 different neural networks that can identify a certain ImageNette V2 class from all other classes. A computing cluster of over $10^4$ cores was used to generate the dataset. Basic classification results show that the neural networks can be classified with accuracy of 72.0%, indicating that the differences between the neural networks can be identified by supervised machine learning algorithms. The ultimate purpose of the dataset is to enable hypernetworks research. The dataset and the code that generates it are open and accessible to the public.
Document Haystack: A Long Context Multimodal Image/Document Understanding Vision LLM Benchmark
Venue: arXiv cs.CV 2025
Year: 2025

The proliferation of multimodal Large Language Models has significantly advanced the ability to analyze and understand complex data inputs from different modalities. However, the processing of long documents remains under-explored, largely due to a lack of suitable benchmarks. To address this, we introduce Document Haystack, a comprehensive benchmark designed to evaluate the performance of Vision Language Models (VLMs) on long, visually complex documents. Document Haystack features documents ranging from 5 to 200 pages and strategically inserts pure text or multimodal text+image "needles" at various depths within the documents to challenge VLMs' retrieval capabilities. Comprising 400 document variants and a total of 8,250 questions, it is supported by an objective, automated evaluation framework. We detail the construction and characteristics of the Document Haystack dataset, present results from prominent VLMs and discuss potential research avenues in this area.